Exploration is defined as the selection of target points that yield the biggest contribution to a specific gain function at an initially unknown environment. Exploration for autonomous mobile robots is closely related to mapping, navigation, localization and obstacle avoidance. In this study an autonomous frontier-based exploration strategy is implemented. Frontiers are defined as the border points that are calculated throughout the mapping and navigation stage between known and unknown areas. Frontier-based exploration implementation is compatible with the Robot Operating System (ROS). Also in this study the effect of different frontier target assignment approaches are comparatively analyzed by means of total path length and thereby total exploration time.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Frontier-based autonomous exploration algorithm implementation


    Contributors:


    Publication date :

    2015-05-01


    Size :

    608393 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Implementation of frontier-based exploration algorithm for an autonomous robot

    Uslu, Erkan / Cakmak, Furkan / Balcilar, Muhammet et al. | IEEE | 2015


    A Frontier-Void-Based Approach for Autonomous Exploration in 3D

    Dornhege, C. / Kleiner, Alexander | BASE | 2013

    Free access

    Optimal Frontier-Based Autonomous Exploration in Unconstructed Environment Using RGB-D Sensor

    Lu, Liang / Redondo, Carlos / Campoy, Pascual | BASE | 2020

    Free access

    Efficient Pareto frontier exploration using surrogate approximations

    Wilson, Benjamin / Cappelleri, David / Simpson, Timothy et al. | AIAA | 2000